How to use

getValue

method

in

us.ihmc.yoVariables.providers.DoubleProvider

@Override
public double getProportionalGain()
{
 return proportionalGain.getValue();
}

@Override
public double getPositionDeadband()
{
 return deadband.getValue();
}

@Override
public double getMaximumFeedback()
{
 return maxOutput.getValue();
}

@Override
public double getIntegralGain()
{
 return integralGain.getValue();
}

@Override
public double getTime()
{
 return timeProvider.getValue();
}

@Override
public double getTimeInCurrentState()
{
 return timeProvider.getValue() - timeOfLastStateChange;
}

@Override
public double getTime()
{
 return timeProvider.getValue();
}

  @Override
  public double getPositionDeadband()
  {
   return positionDeadband.getValue();
  }
}

@Override
public double getIntegralLeakRatio()
{
 return integralLeakRatio.getValue();
}

public void initialize()
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 polynomial.setQuadratic(0.0, trajectoryTime.getDoubleValue(), initialPositionProvider.getValue(), initialVelocityProvider.getValue(),
    finalPositionProvider.getValue());
}

@Override
public void getQMatrix(DenseMatrix64F matrixToPack)
{
 matrixToPack.reshape(size, size);
 CommonOps.fill(matrixToPack, 0.0);
 matrixToPack.set(angularAccelerationStart + 0, angularAccelerationStart + 0, angularAccelerationVariance.getValue() * sqrtHz);
 matrixToPack.set(angularAccelerationStart + 1, angularAccelerationStart + 1, angularAccelerationVariance.getValue() * sqrtHz);
 matrixToPack.set(angularAccelerationStart + 2, angularAccelerationStart + 2, angularAccelerationVariance.getValue() * sqrtHz);
 matrixToPack.set(linearAccelerationStart + 0, linearAccelerationStart + 0, linearAccelerationVariance.getValue() * sqrtHz);
 matrixToPack.set(linearAccelerationStart + 1, linearAccelerationStart + 1, linearAccelerationVariance.getValue() * sqrtHz);
 matrixToPack.set(linearAccelerationStart + 2, linearAccelerationStart + 2, linearAccelerationVariance.getValue() * sqrtHz);
}

@Override
public double getTimeInCurrentState()
{
 double t = timeProvider.getValue() - timeOfLastStateChange.getDoubleValue();
 timeInCurrentState.set(t);
 return t;
}

private void updateUsingDifference(double difference)
{
 double previousFilteredDerivative = getDoubleValue();
 double currentRawDerivative = difference / dt;
 double alpha = alphaVariable.getValue();
 this.set(alpha * previousFilteredDerivative + (1.0 - alpha) * currentRawDerivative);
}

private void updateForwardVelocity(double alpha)
{
 double minMaxVelocity = maxStepLength / stepTime.getValue();
 forwardVelocityProperty.set(minMaxVelocity * MathTools.clamp(alpha, 1.0));
}

private void updateLateralVelocity(double alpha)
{
 double minMaxVelocity = maxStepWidth / stepTime.getValue();
 lateralVelocityProperty.set(minMaxVelocity * MathTools.clamp(alpha, 1.0));
}

private void updateUsingDifference(double difference)
{
 double previousFilteredDerivative = getDoubleValue();
 double currentRawDerivative = difference / dt;
 double alpha = alphaVariable == null ? alphaDouble : alphaVariable.getValue();
 set(alpha * previousFilteredDerivative + (1.0 - alpha) * currentRawDerivative);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testOrientation()
{
 trajectoryGenerator.setControlHandAngleAboutAxis(true);
 // v = omega x r
 checkVEqualsOmegaCrossR(worldFrame, trajectoryGenerator, random);
 checkOrientationAtVariousPoints(trajectoryGenerator, initialOrientationProvider, trajectoryTimeProvider.getValue(), worldFrame);
}

@Override
public void getRMatrix(DenseMatrix64F matrixToPack)
{
 matrixToPack.reshape(getMeasurementSize(), getMeasurementSize());
 CommonOps.setIdentity(matrixToPack);
 CommonOps.scale(variance.getValue() * sqrtHz, matrixToPack);
}

@Override
public void initialize()
{
 currentTime.set(0.0);
 trajectoryTime.set(trajectoryTimeProvider.getValue());
 parameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 updateInitialPosition();
 updateFinalPosition();
}

private void updateActionMode()
{
 timeInCurrentMode.add(controlDt);
 updateWindowSize();
 StictionActionMode estimatedCurrentMode = estimateCurrentActionMode();
 if (timeInCurrentMode.getDoubleValue() > minTimeInMode.getValue() && estimatedCurrentMode != stictionActionMode.getEnumValue())
 {
   stictionActionMode.set(estimatedCurrentMode);
   timeInCurrentMode.set(0.0);
 }
}